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A method and device for detecting right-angle turns of a tracking robot based on a single camera

A right-angle turn, single-camera technology, applied in the field of robot visual servo control, can solve the problems affecting the real-time performance of the system, high cost, information redundancy, etc.

Active Publication Date: 2017-01-25
WILD SC NINGBO INTELLIGENT TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Using the information fusion of two cameras to make judgments has a certain degree of information redundancy, which affects the real-time performance of the system. At the same time, the required cost is relatively high.

Method used

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  • A method and device for detecting right-angle turns of a tracking robot based on a single camera
  • A method and device for detecting right-angle turns of a tracking robot based on a single camera
  • A method and device for detecting right-angle turns of a tracking robot based on a single camera

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no. 1 example

[0038] attached figure 1 is a simulated specimen image, in figure 1 The box area in D is the imaging area of ​​the specimen image, and the horizontal line is the imaging area of ​​the trajectory. The robot acquires the specimen image in the direction of the movement direction. Taking this specimen image as an example, the bottom 10 end of the specimen image is the robot camera. The proximal end, the top 20 end of the specimen image is the distal end of the robot camera, according to the method of the present invention, as shown in the appendix. image 3 the steps shown,

[0039] Step 1: The trajectory imaging area in the specimen image is divided into m lines horizontally and evenly; that is, in the specimen image, from the far end 20 of the robot camera to the near end 10 of the robot camera, it is divided into m lines of equal distance, and the ordinate of each line is divided into m lines. The sequence is y1, ..., ym.

[0040] Step 2, select n lines imaged by the robot c...

no. 2 example

[0066] Figure 4 It is a module diagram of a tracking robot right-angle turn detection device based on a single camera, refer to the following Figure 4 This embodiment will be described. In the present invention, it mainly includes a calculation module 21 and a judgment module 22 .

[0067] The calculation module 21 is used to divide the trajectory imaging area in the specimen image into m lines horizontally; select n lines imaged at the proximal end of the robot camera from the m lines divided on average in the specimen image as feature lines, and calculate the n features The vertical coordinate and centroid abscissa of the row; fit the target pixel boundary line according to the calculated vertical coordinate and centroid abscissa of each row of the n feature rows;

[0068] The judgment module 22 is used for judging the right-angle turning direction according to the number of target pixels on the left and right sides of the dividing line.

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Abstract

The invention discloses a tracking robot quarter turn detecting method based on a single camera. The method comprises the steps that a track imaging area of a sample image is transversely and averagely divided into m lines; n lines of robot camera near-end imaging are selected from the m lines formed by averagely dividing the sample image to serve as characteristic lines, and the y-coordinates and the centroid x-coordinates of the n characteristic lines are calculated; a target pixel point dividing line is obtained in a fitting mode according to the calculated y-coordinates and the calculated centroid x-coordinates of the n characteristic lines; the quarter turn direction is judged according to the number of target pixels on the left side and the right side of the dividing line. According to the method and device for achieving robot turning, the hardware cost can be reduced, the expenditure on signal collecting elements is reduced, the computation complexity can be lowered as much as possible, and the accurate information judgment can be achieved.

Description

technical field [0001] The invention relates to the field of robot visual servo control, in particular to a method and device for detecting right-angle turns of a tracking robot based on a single camera. Background technique [0002] In the field of mobile robot tracking, the robot turning strategy is indispensable, and the present invention is based on right-angle turning. In actual use, it mainly focuses on the following methods: (1) Based on optical fiber sensors, the main controller collects the states of two or more optical fiber sensors in each control cycle to obtain the current state of the robot and judge it. Whether to enter the turning mode; (2) The tracking system based on dual cameras uses different images from the two cameras to process information according to certain rules to obtain whether the mobile robot should enter the turning mode. [0003] For the method described in (1), the key point is to use the state quantity transmitted by the optical fiber sens...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
Inventor 董勤波张敬良王宝磊贾庆伟
Owner WILD SC NINGBO INTELLIGENT TECH